BW SENSING IMU100C Manuel utilisateur
IMU100C
High Cost-effective
IMU
Technical Manual
As a high cost-effective inertial measurement sensor, the IMU100C measures the attitude
parameters of the motion carrier (roll angle, pitch angle, angular velocity, acceleration).Attitude and
angular velocity deviations are estimated by a 6-state Kalman filter with appropriate gain, that is suitable for
inertial attitude measurement in motion or vibration.
IMU100C uses highly reliable MEMS accelerometers and gyroscopes，and ensure
measurement accuracy through algorithms, meanwhile, the seal design and strict process ensure that the
dynamic parameters of the carrier such as the angular velocity、acceleration and attitude can be accurately measured
under harsh conditions. Through various compensations such as nonlinear compensation, quadrature compensation,
drift compensation, the error source of IMU100C can be greatly eliminated, and the product accuracy level can be
improved. The IMU100C is equipped with digital interface that can be easily integrated into the user's system.
Introduction
Features
Applications
●Dynamic compensation and quadrature compensation
●Zero instability：30 °/h
●Special offset tracking algorithm eliminates drift
●Gyro drift compensation
●Standard RS232/RS485/TTL output interface
●Operating temperature:： -40℃+85℃
●High-performance Kalman filter algorithm
●Small size： L60 × W59× H29mm
IMU100C
High Cost-effective IMU
●Balance car
●Dumper
●Platform stability
●Individual combat equipment
●ROV underwater robot navigation
●Marine survey
●Robot
●Unmanned Aerial Vehicles
Bewis Sensing Technology LLC
www.bwsensing.com Tel: +86 189 0617 7922
Power supply
Operating current
Operating temperature
Store temperature
9V~35V DC
30mA （Max40mA ）
-40~+85℃
-55~+100℃
Specifications
Performance Specifications
Pitch angle
Roll angle
measuring range
Resolution
Range
Resolution 0.05°/sec
-180 °~+180°
0.01°
-90°~+90°
Resolution 0.01°
Gyro
Range
Zero instability
ARW
Noise density
Zero absolute error ±0.3 °/sec
0.007 °/s/√Hz
3.1 °/√h
30 °/h
±400°/sec
Range： X,Y,Z
Resolution 2 mg
±3.6 g
Accelerometer
Bias stability
500Hz
Maximum output frequency
±20 mg
50ms
Start delay
2000g
Anti-vibration performance
IMU100C
High Cost-effective IMU
Electrical Specifications
Bewis Sensing Technology LLC
www.bwsensing.com
Tel: +86 189 0617 7922
Connector
Protection level
Shell material
Installation
Metal connector
IP67
Magnesium alloy sanding oxidation
Three M4 screws
Mechanical Characteristic
Package size
IMU100C
High Cost-effective IMU
Resolution: The measured minimum change value that the
sensor can detect and resolve within the measurement range.
Accuracy: The error between the actual angle and the Root mean
square(RMS) of the measured angle of the sensor (≥16 times).
www.bwsensing.com Tel: +86 189 0617 7922
Bewis Sensing Technology LLC
Size：L60*W59*H29（mm）
48
4
11
24
4 Through hole
Bare plate
product size
Size：L44*W35*H11（mm）
Note: ±1mm error for length and width dimensions, please refer to actual size.
holeΦ 2mm
31
40
44
35
The correct installation method can avoid measurement error. The following points should be made
when installing the sensor:
First of all, to ensure that the sensor mounting surface and the measured surface completely close,
the measured surface should be as horizontal as possible, can not have the angle shown in Figure A
and Figure C, the correct installation is shown in Figure B and Figure D.
the measured surface the measured surface
C D
the measured surface the measured surface
AB
Secondly, the bottom cable of the sensor and the axis of the measured object shouldn't generate
the angle shown in E. When installing, the bottom cable of the sensor should be kept parallel or
orthogonal to the rotation axis of the measured object. This product can be installed horizontally or
vertically (vertical installation requires customization). The correct installation method is shown in
Figure F.
Finally, the installation surface of the sensor must be fixed with the measured surface tightly and
smoothly, to avoid measurement error that may be caused by the acceleration and vibration.
Installation direction
IMU100C
High Cost-effective IMU
uneven surface
generates the
angle
uneven surface
generates the
angle
Bewis Sensing Technology LLC
www.bwsensing.com Tel: +86 189 0617 7922
IMU100C
High Cost-effective IMU
Electrical interfaces
Inertial
measureme
nt unit
1
3
4
5
GND
DC 5V
1
5
4
2
3
6
7
8
9
BLACK GND
YELLOW TXD
RED VCC
GREEN RXD
RS 232 wiring diagram
RED
1
VCC
DC 5V
BLUE
2
NC
BLACK
3
GND
GREEN
4
RXD
（B、D-）
YELLOW
5
TXD
（A、D+）
Sensor
YELLOW: TXD
DC 10-35V
6
8
9
3
2
4
5
1
3
73
2
4
5
6
8
9
RED VCC DC 5V
YELLOW A 485+
485-
BLACK GND
RS 485 wiring diagram
GND
11
Signal
acquisition
terminal
Inertial
measureme
nt unit
1
3
4
5
GREEN B
Electrical connections
Cable color
&
function
Note: The RS232 interface needs to share the product ground wire with the
communication ground wire.
Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 0617 7922
IMU100C
High Cost-effective IMU
Debugging software
Users can directly download serial assistant on official website (Supports-Download). You can also use more
convenient and intuitive PC software.
IMU100C supporting serial debugging software can be connected to the inclinometer on the computer for
angle display. The software debugging interface is as shown in the figure below. Using the debug software, it
can conveniently display the current X-direction tilt angle, and you can also modify and set other parameters by
yourself.
Software usage steps
①
②
③
Connect the serial port hardware of the inclinometer correctly and connect the power supply.
Select the computer serial port and baud rate and click to connect to the serial port.
Click Start and the tilt angle of the inclinometer in the X and Y directions will be displayed on the screen.
www.bwsensing.com Tel: +86 189 0617 7922
Bewis Sensing Technology LLC
Protocol
1Data Frame Format：
Data Format: Hexadecimal
Identifier: Fixed to 77
Frame Length: Length from Frame Length to Checksum（included）
Address Code: Address of acquiring module, default 0x00
Data: Content and length variable according to Command
Checksum: Sum of Frame Length, Address Code, Command and Data. (Please pay
attention that when the command or data changes, the checksum will change. )
（8 data bits，1 stop bit，No parity check，default baud rate 9600）
Identifier
（1byte）
0x77H
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（Xbyte）
Checksum
（1byte）
2 Command Format：
2.1 Read PITCH angle Command：77 04 00 01 05
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
0x01
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（3byte）
Checksum
（1byte）
0x81 SXXX.YY
Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1
means negative), XXX is the three digit integer part, YY is the fractional part. For example, if the return value is 77 07
00 81 10 34 63 2F, the pitch angle data is “10 34 63”, which means “-34.63 degrees”.”
0x07
0x07
0x04 0x05
2.2 Read ROLL angle Command： 77 04 00 02 06
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
0x02
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（3byte）
Checksum
（1byte）
0x82 SXXX.YY
0x04 0x06
Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1
means negative), XXX is the three digit integer part, YY is the fractional part.For example, if the return value is 77 07 00
82 01 23 57 04, the roll angle data is "01 23 57", which means "123.57 degrees"
IMU100C
High Cost-effective IMU
Bewis Sensing Technology LLC
www.bwsensing.com Tel: +86 189 0617 7922
SXXX.YY
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte）
Checksum
（1byte）
0x84
2.3 Read PITCH, ROLL axis angle Command：77 04 00 04 08
0x040x04
0x0D
PITCH axis： +2.01°，ROLL axis： -0.51°，YAW axis：0.00°
77 0D 00 84 00 02 01 10 00 51 00 00 00 F5
Identifier;
fixed as 77
The length of the data,
fixed to 0D means that
in addition to 77, there
are 13 bytes behind
Address code,
default is 00
Command word,
fixed at 84
ROLL axis angle:
The format is the
same as the PITCH
axis
YAW axis or reserved
bit angle: the format
is the same as the
PITCH axis
The last byte is the sum
of all the previous data
except the first number
(0x77). If there is a carry,
the lower data is taken.
PITCH axis angle:
The first digit of the first byte is the
sign bit, 0 is the positive angle, and 1
is the negative angle.
The second and second bytes of the
first byte are integer bits of the angle,
which are compressed BCD codes.
The third byte is the decimal place of
the angle, which is the compressed
BCD code.
IMU100C
High Cost-effective IMU
Bewis Sensing Technology LLC
www.bwsensing.com Tel：+86 189 0617 7922
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Identifier
（1byte）
0x77
0x05 0x8B
0x05
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x0B XX
Command：77 05 00 0B 02 12
2.5 Set baud rate
Note: 0x00 means 2400 0x01 means 4800 0x02 means 9600 0x03 means 19200, 0x04 means 115200, default
value is 0x02:9600 Each time the communication baud rate is changed successfully, the response command is
sent back at the original baud rate, and then the device communication baud rate is changed immediately.
Note: If high frequency output is required, set the baud rate to 115200. Modify the baud rate without sending
a save command, and it will take effect immediately.
0x00: success
0xFF: failure
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Command response：
2.5 Set module address
0x0F
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x8F
Command：77 05 00 0F 01 15
new address
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.6 Query current address
0x1F
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x1F
Command： 77 04 00 1F 23
0x00: success
0xFF: failure
0x04
0x05
0x05
0x05
new address
0x00 0x23
new address new address
correct address
Note: For example, the following command "77 05 00 0F 0A 1E" means that the address of the product is changed
from hexadecimal address 00 to 0A.
Note: The query address command is to fix the command.。
IMU100C
High Cost-effective IMU
Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 0617 7922
Table des matières
Autres manuels BW SENSING Instrument de mesure
BW SENSING
BW SENSING AS400S Series Manuel utilisateur
BW SENSING
BW SENSING AS400 Series Manuel utilisateur
BW SENSING
BW SENSING BW-IMU720 Series Manuel utilisateur
BW SENSING
BW SENSING BWM427 Manuel utilisateur
BW SENSING
BW SENSING WF-WK100 Manuel utilisateur
BW SENSING
BW SENSING LEC315 Series Manuel utilisateur
BW SENSING
BW SENSING BWM400 Manuel utilisateur
BW SENSING
BW SENSING BW-IMU500 Manuel utilisateur
BW SENSING
BW SENSING MINS200 Manuel utilisateur
BW SENSING
BW SENSING LoRaWAN LR-WS2000 Manuel utilisateur
BW SENSING
BW SENSING BWM410 Series Manuel de programmation
BW SENSING
BW SENSING BW-IMU100 Series Manuel utilisateur
BW SENSING
BW SENSING BWM466 Series Manuel utilisateur
BW SENSING
BW SENSING BMR3000 Series Manuel utilisateur
BW SENSING
BW SENSING BW-IMU50 Series Manuel utilisateur
BW SENSING
BW SENSING BW-IMU127 Series Manuel utilisateur
BW SENSING
BW SENSING BW-IMU710 Series Manuel utilisateur
BW SENSING
BW SENSING WF-WM410 Manuel utilisateur
BW SENSING
BW SENSING VG127C Manuel utilisateur
BW SENSING
BW SENSING BW-IMU300 Manuel utilisateur
Manuels Instrument de mesure populaires d'autres marques
Endress+Hauser
Endress+Hauser Proline Promag 50 Caractéristiques techniques
Siemens
Siemens SITRANS F Coriolis FCT030 Manuel de la liste des pièces
KLINGER
KLINGER CMF V Series Manuel utilisateur
EXFO
EXFO FTB-2 Manuel d'exploitation et d'entretien
Keysight
Keysight M8290A Manuel utilisateur
ADTEK
ADTEK MW-5 Manuel utilisateur